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Fix alternative velocity representations of new functional APIs #99
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Commits on Mar 6, 2024
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Fix generalized free-floating jacobian computation
The intermediate link jacobians were computed with the wrong output representation. The to_output helper requires link jacobians to have an inertial-fixed output representation.
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Fix inverse dynamics in Body and Mixed representations
The link forces passed as inputs are always in the active representation of data. Therefore, they need to be converted to Inertial before passing them to RNEA.
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